CM6 load test

This is a reupload
The current is not in amps it's in milliamps!!!
The First 3 movements are the same with different loads; no load, 0.5kg, and 1kg.
The last movement is different and it is with a 1.5kg load. The robot can probably manipulate with more than 1.5kg when the load is near its base and not stretched out, same as human arms.
Movement is prerecorded when robots motors were disabled and then just played back!
The precision of this type of robotic arm suffers a lot under load same as human arms. BUT it can and should be corrected with help of visual serving.
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The goal of CM6 is to be a go-to robotic arm framework for people interested in robotics. CM6 uses 6 gimbal BLDC motors paired with small gear ratio gearboxes ( from 1:5 to 1:9), by doing that it is passively compliant and safe. Each Joint is using an S-Drive BLDC driver that is mounted on modular actuator designs for specific gimbal motors. Design can be changed easily by using different size aluminum extrusions or changing the gear ratio of modular gearboxes.

[@haenselundgretel654]

Nice!

[@williamhuang5329]

Hanzhen harmonic drive gear , strain wave reducer,
over 30 years experience

[@hehmehbeh6703]

Very nice

[@tadashi_hamada]

Hey Petar, which belts do you use? And do you think the springiness at high loads are coming from the 3d printed parts or the belts?

[@source-robotics]

Belts are HTD 5M belts. Springiness is mostly from design of actuators and pid parameters. Actuators are quasi direct drives and are really cute compliant.

[@tadashi_hamada]

@@source-robotics Thank you for the response. Do you experience any beltskipping?

[@ipworks99]

Very nice, what controller and firmware you use sir?

[@source-robotics]

Its all custom made, there is a lot of info in description.